On robustness to noise of least squares based adaptive control (Q581327)
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English | On robustness to noise of least squares based adaptive control |
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On robustness to noise of least squares based adaptive control (English)
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1987
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Most of the early work on daptive controller robustness to unmodelled dynamics is on self-tuning controllers. The conditions for stability in terms of the design parameters are of the STC type. But it is known that those results use an a priori plant signal-boundedness assumption. In \textit{W. R. Cluett, J. M. Martin-Sanchez, S. L. Shah} and \textit{D. G. Fisher} [IEEE Proc. Am. Control Conf., 1986, Vol. 2, 713-720 (1986)] a general approach is presented for stability analysis of adaptive predictive control schemes. A single condition is imposed for stability in terms of convergence properties of the estimation error and the estimated parameters. This paper extends the stability results of Cluett et al. and includes a normalized least squares estimation scheme with a parameter adaptation stopping criterion and the concept of an augmented plant that enables P, Q and R weighting polynomials to be incorporated into the predictive control law. Thus an adaptive controller of the STC type is presented which guarantees global stability in the presence of unknown dynamics, and bounded disturbances. Also the parameters converge in finite time. This controller is also able to handle some non-minimum phase systems. Finally a stopping criterion is used for parameter adaptation.
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self-tuning controllers
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adaptive predictive control schemes
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normalized least squares estimation
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parameter adaptation stopping criterion
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augmented plant
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global stability
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unknown dynamics
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bounded disturbances
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